JP5478010B2 - Electronic scanning radar equipment - Google Patents

Electronic scanning radar equipment Download PDF

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JP5478010B2
JP5478010B2 JP2007292856A JP2007292856A JP5478010B2 JP 5478010 B2 JP5478010 B2 JP 5478010B2 JP 2007292856 A JP2007292856 A JP 2007292856A JP 2007292856 A JP2007292856 A JP 2007292856A JP 5478010 B2 JP5478010 B2 JP 5478010B2
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interference
frequency
data
component
unit
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JP2009121826A (en
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英樹 白井
千晴 山野
一馬 夏目
優 渡邉
麻衣 坂本
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株式会社デンソーアイティーラボラトリ
株式会社デンソー
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/08Systems for measuring distance only
    • G01S13/32Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves
    • G01S13/34Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal
    • G01S13/345Systems for measuring distance only using transmission of continuous unmodulated waves, amplitude-, frequency- or phase-modulated waves using transmission of frequency-modulated waves and the received signal, or a signal derived therefrom, being heterodyned with a locally-generated signal related to the contemporaneous transmitted signal to give a beat-frequency signal using triangular modulation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88Radar or analogous systems specially adapted for specific applications
    • G01S13/93Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28Details of pulse systems
    • G01S7/2813Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays

Description

    The present invention relates to an electronic scanning radar apparatus, and more particularly to an electronic scanning radar apparatus capable of suppressing an interference signal contained in a received signal in an in-vehicle FM-CW or CW electronic scanning radar apparatus. About.

    FIG. 1 is a time chart showing the transmission / reception signal and the principle of mixing processing in the FM-CW radar system, FIG. 2 is a plan view showing an example of a road environment having an oncoming lane, and FIG. FIG. 4 is a diagram showing a signal processing state in the own vehicle when an interference signal from another vehicle is received. FIG. 4 is a sampling value of each channel in the case of simultaneous reception of all channels and in the case of time division (switching) reception. FIG. 6 is a diagram illustrating states of interference component signals assumed at that time (pre-turnback signal and post-turnback signal).

    In-vehicle radars that measure distance, speed, and azimuth with respect to a forward target such as a preceding vehicle have been developed to prevent collisions between vehicles and control between vehicles.

    As a method for measuring the distance and relative velocity with respect to the forward target, the FM-CW radar method is adopted because the signal processing circuit configuration is simple. In the FM-CW system, as shown in FIG. 1A, a signal S1 whose frequency changes linearly from a transmission antenna is transmitted. This receives the signal S2 reflected from the target, and mixes the reception signal S2 and the transmission signal S1 as shown in FIG. As a result, a beat signal S3 having a frequency difference (beat frequency fb) between the transmission and reception signals as a component is generated. This beat frequency is proportional to the round-trip propagation delay time Δt from the target, from which the distance can be converted.

    As a method for measuring the azimuth, there is an electronic scanning method capable of performing scanning processing in all directions in a short time. In the electronic scanning method, a reflected wave from an object is received by a plurality of antenna elements (array antennas) arranged according to a certain rule. A time difference determined by the direction of the target with respect to each antenna, the arrangement position of each antenna, and the reception signal frequency is generated between the channels of the reception data. The direction of the target can be detected from this time difference (or phase difference). For example, digital beam forming (DBF) is known as such a method. In DBF, after the received data is digitized by an AD converter, direction detection can be performed by correlating each channel with vector data (mode vector) (see, for example, Non-Patent Document 1).

    As described above, the electronic scanning method requires simultaneous reception data from a plurality of antenna elements. However, in the configuration in which an AD converter is prepared for each antenna element, the apparatus becomes complicated and expensive. For example, as shown in FIG. 5, a switch 7 provided between each antenna element 6 and the AD converter 13. Therefore, a configuration for time-division reception has been proposed. (For example, refer to Patent Document 1).

    In such a time division reception system, a delay time τ [k] due to switching occurs in each channel. Here, k represents a channel number. If the delay time τ [k] due to this switching is negligibly small with respect to the period 1 / fb of the beat frequency fb (τ [k] << 1 / fb), it is considered that all channels have been received simultaneously. It can be processed. However, for reasons such as cost reasons, a relatively low speed switch (a form in which the drive frequency of VCO2 is relatively low) may be employed. In this case, the delay time cannot be ignored. When the error in the phase of the received signal in each channel increases, the detection of the target (target) direction becomes inaccurate, so that the phase Δφ [κ] expressed by the equation (1) can be corrected in each channel. preferable.

    By this phase correction processing, accurate azimuth detection is possible even in the case of time division reception. By the way, in a road environment such as that shown in FIG. 2 in which many vehicles equipped with on-vehicle radar devices come and go, for example, the radio wave Rx2 from the radar mounted on the vehicle traveling in the oncoming lane is mixed into the radar mounted on the own vehicle. This causes interference between the reflected wave Rx1 at the target of the radio wave Tx radiated from the host vehicle and the radio wave Rx2 from the oncoming vehicle. In particular, direct waves from other vehicle transmitting antennas have a relatively large power level and have a large effect on measurement accuracy.

    In such a situation, it is effective to suppress the interference component contained in the received signal. For example, a method of suppressing an interference component using a filter that suppresses a component from a specific direction has been proposed. (For example, see Non-Patent Document 2)

    However, in the above-described time-division switching type radar, the direction of the interference signal Rx2 component from another vehicle may not be obtained appropriately. The reason will be described below.

    As shown in FIG. 3A, when the modulation method of the interference signal Rx2 component from another vehicle is the FM-CW method or the CW method, the interference component of the mixed signal Rx2 is as shown in FIG. In addition, it becomes a continuous signal whose frequency varies. Further, when sampling is performed by the AD converter, a beat frequency equal to or higher than half the sampling frequency F (so-called Nyquist frequency) appears as a folded component as shown in FIG.

    As described above, when the frequency fluctuates with time, it is difficult to determine the phase correction amount of the received signal and the phase correction processing in each channel in the channel switching method in which a plurality of antenna elements are switched by a switch. If the FM-CW modulation slope is nearly parallel, the frequency fluctuation of the interference component is relatively gentle, but the frequency may be aliased, and the amount of phase complement can be determined uniquely. Have difficulty. FIG. 4 shows an example in which the amount of phase shift differs depending on the frequency before folding even if the data after sampling is the same. In the case of switching reception in FIG. 4B (switching delay time τ), the line indicated by the dotted line is the signal BS before the return, and the line indicated by the solid line is the signal AS after the return. Since the periods of the signals BS and AS are different, it can be seen that the necessary phase correction amount for the sampling value is greatly different between the signals BS and AS.

    Therefore, the sampled beat signal is cut into a plurality of short-time data in the time direction for each antenna element, the interference component frequency of the interference wave is detected from the frequency spectrum of the short-time data, and then the frequency before the interference wave is turned back. Phase correction is performed based on a plurality of candidates, and the most likely arrival direction of the interference component is estimated using the digital beam forming result of the corrected signal, and the estimated arrival direction of the interference component is A technique for suppressing the interference component by applying a filter that suppresses the interference component has been proposed (for example, see Patent Document 2).

Nobuyoshi Kikuma, "Adaptive signal processing with array antenna", Science and Technology Publishing, 1998) Paper: Adaptive Mainbeam Jamming Suppression for Multi-Function Radars, T.J. Japanese Patent Laid-Open No. 11-23310 JP 2007-232383 A

    However, in this case, when detecting the arrival direction of the interference component, it is necessary to repeat the direction estimation and the direction estimation by DBF (digital beam forming) as many times as the number of candidates of the interference component before returning. In particular, when it is necessary to increase the cut frequency for switching reception (the frequency band to be folded back becomes wider), the number of candidates for the frequency before folding increases, which increases the number of computations and is short in radar devices that require real-time processing. In order to enable processing in time, there is an inconvenience that high-performance and therefore complicated and expensive calculation means (calculation program and calculation element) are required.

    Accordingly, an object of the present invention is to provide an electronic scanning radar apparatus capable of suppressing interference with a simple configuration in an FM-CW or CW electronic scanning radar in order to solve the above-described problems. And

According to the first aspect of the present invention, a transmission signal (Tx) composed of a continuous wave can be radiated freely from a transmission antenna (5), a reception antenna including a plurality of antenna elements (6) from the first channel to the Kth channel, the plurality A mixer that obtains beat signals (S3) for a plurality of channels (for example, K channels) corresponding to the plurality of antenna elements (6) by mixing the received signal (Rx) received by the antenna elements and the transmission signal. (10) The beat signal (S3) obtained by the mixer is sampled at a predetermined sampling frequency (f S ) to obtain reception data (DT1) for a plurality of channels corresponding to the plurality of antenna elements. A D converter (13) that converts the sampled received data (DT1) for the plurality of channels into a plurality of short-time signals for each channel in a time direction; From the frequency spectrum, the short-time data cutout unit (19) that cuts out the data into the interval data (SD), the frequency spectrum calculation unit (20) that calculates the frequency spectrum of the plurality of short-time data (SD) for each channel, An interference frequency detector (18) for detecting an interference component frequency of the interference wave, and a phase correction table calculator (21) for calculating a phase correction table based on the detected frequency spectrum component at the interference component frequency of each channel. An interference component removing unit (26) for suppressing an interference direction component in the received data based on the phase correction table; a target distance based on the received data (DT1) in which the interference direction component is suppressed; In the electronic scanning radar apparatus (1) having a target detection unit (17) for detecting speed and the like,
The phase correction table calculation unit includes:
A data decomposing unit that decomposes complex vector data composed of frequency spectrum components at the interference component frequency obtained by the interference frequency detecting unit into amplitude terms and phase terms;
A correction table generation unit that calculates and generates a correction table that aligns the phase term of the decomposed complex vector data with an orientation of 0 degrees;
The interference component removing means (26)
The correction table is applied to the received data x c [t] of the first to Kth channels at time t so that the phase of the interference component of each channel is aligned at 0 ° and the projection matrix (I−a (0) .a (0) T ) (I is the unit matrix (size K), a (0) is the mode vector (size K) in the 0 degree direction), and each of the phases is aligned in the 0 degree direction. In order to remove the interference component from the received data x c [t] of the channel and to restore the phase of the received data of each channel from which the interference direction component has been removed, the complex conjugate of the correction table is applied. In the interference direction component suppression processing performed in
Using equation (19),
(1)
The received data x c [t] is multiplied by the conjugate transpose Hosei [t] H of the correction table,
(2)
The result of (1) is multiplied by 1 / K · correction table Hosei [t]
(3)
Next, an operation for subtracting the result of (2) from the received data x c [t] is performed,
An interference suppression unit that performs an operation equivalent to the interference direction component suppression processing ;
Have
And a buffer unit (27) for merging the received data in which the interference direction component is suppressed,
Based on the restored data, a distance, a relative speed, and the like of the target are detected.

    The invention of claim 2 is provided with a switch (7) provided between the mixer (10) and the plurality of antenna elements (6), and selectively connecting the plurality of antenna elements (6) to the mixer. Configured.

According to the first aspect of the present invention, in the case where FM-CW, CW radar wave, etc. from an oncoming vehicle or the like is received as an interference wave, the phase of the interference component of the received data is aligned to 0 degrees , Since only the interference component is removed from the received data, it is no longer necessary to perform a large amount of processing such as performing digital beam forming processing for the number of candidates of the frequency before the interference component aliasing as in the past. An electronic scanning radar apparatus capable of suppressing interference with a simple configuration can be provided.

    According to the invention of claim 2, a channel switching type electronic scanning radar apparatus in which a plurality of antenna elements (6) whose switching delay time is a problem is selectively connected to the mixer (10) by the switch (7). It becomes possible to apply to (1).

In addition, according to the first aspect of the present invention, the correction table is calculated and generated so that the phase term of the complex vector is aligned with the azimuth of 0 degrees, so that the cost for calculating the correction table can be reduced.

    Note that the numbers in parentheses are for the sake of convenience indicating the corresponding elements in the drawings, and therefore the present description is not limited to the descriptions on the drawings.

    Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 5 is a block diagram showing an embodiment of an electronic scanning radar apparatus according to the present invention, FIG. 6 is a schematic diagram showing the contents of a short-time data extraction process, and FIG. 7 is a schematic diagram showing the contents of a frequency spectrum calculation process. 8 is a schematic diagram showing the instantaneous beat frequency of the interference signal at each time, FIG. 9 is a conceptual diagram showing the basic idea of the present invention, and FIG. 10 is a flowchart showing the flow of interference signal removal according to the present invention. An example).

    FIG. 5 is a configuration diagram showing an electronic scanning radar apparatus 1 according to an embodiment of the present invention. The radar apparatus 1 is an FM-CW radar apparatus that uses a transmission signal Tx obtained by multiplying a continuous wave (CW) by frequency modulation (FM). The radar device 1 is a so-called on-vehicle radar device mounted on an automobile, and detects a distance to a vehicle (target) traveling in front of the vehicle and a relative speed thereof. The detection result of the radar device 1 is used for vehicle travel control information and the like. Microwaves are used for transmission radio waves.

    The radar apparatus 1 has a configuration in which only one set of analog devices such as the RF amplifier 9 and the mixer 10 are provided by using the switch 7. The radar apparatus 1 includes a transmission / reception unit 4, and the transmission / reception unit 4 includes an oscillator 2 having a center frequency f 0 (for example, 76 GHz), an amplifier 3, and a transmission antenna 5. The oscillator 2 is a signal obtained by subjecting a carrier wave having a frequency f0 to triangular wave modulation having a frequency modulation width ΔF by a control voltage output from a modulation DC power source (not shown), that is, a modulated wave having a frequency f0 ± ΔF / 2 ( The transmission signal Tx) is output. The modulated wave is amplified by the amplifier 3 and radiated as an electromagnetic wave from the transmission antenna 5. A part of the transmission signal Tx is output to the mixer 10 as a local signal for reception detection.

    The receiving array antenna 8 provided in the transmitter / receiver 4 includes K array antenna elements 6 corresponding to the respective channels from the first channel (# 1) to the Kth channel (#K). The switch 7 has K input terminals and one output terminal, and each array antenna element 6 of the array antenna 8 is connected to each input terminal one by one. The output terminal is connected to any one of the input terminals, and the connection is periodically switched by a switching signal (clock signal). Connection switching is performed electrically on the circuit.

The received signal Rx is time-division multiplexed by the switch 7 with a period of 1 / fsw. Here, the order of switching shall be performed at random. The time-division multiplexed signal is amplified by the RF amplifier 9 and mixed with the transmission signal Tx distributed by the mixer 10. The reception signal Rx is down-converted by this mixing, and a beat signal S3 that is a difference signal between the transmission signal Tx and the reception signal Rx is generated as shown in FIG. The received signal R X and the transmitted signal T X details of the process for obtaining a beat signal S3 based on, for example, because the known technology described in such Patent 11-133142 discloses, omitted the detailed description herein To do.

By the way, in the triangular wave modulation FM-CW system, the beat frequency when the relative speed is zero is fr, the Doppler frequency based on the relative speed is fd, the beat frequency in the section where the frequency increases (up section) is fb1, and the frequency decreases. If the beat frequency of the section (down section) is fb2,
fb1 = fr−fd (2)
fb2 = fr + fd (3)
Holds.

Therefore, if beat frequencies fb1 and fb2 in the up and down sections of the modulation cycle are measured separately, fr and fd can be obtained from the following equations (4) and (5).
fr = (fb1 + fb2) / 2 (4)
fd = (fb2-fb1) / 2 (5)
If fr and fd are obtained, the distance R and speed V of the target can be obtained by the following equations (6) and (7).
R = (C / (4 · ΔF · fm)) · fr (6)
V = (C / (2 · f0)) · fd (7)
Here, C is the speed of light, and fm is the FM modulation frequency.

    The generated beat signal S3 is sampled and quantized as N data at the sampling frequency fs by the A / D converter 13 via the amplifier 11 and the low-pass filter 12. Then, K (channel) × N pieces of received data DT1 as in equation (8) is accumulated in the buffer unit 14 and output to the target detection unit 17.

    As shown in FIG. 5, the target detection unit 17 includes an interference suppression unit 30, a beat frequency detection unit 31, a phase correction unit 32, and an orientation detection unit 33. The interference suppression unit 30 cuts out data for a short time. A unit 19, a frequency spectrum calculation unit 20, an interference frequency detection unit 18, a phase correction table calculation unit 21, an interference component removal unit 26, and a buffer unit 27.

    As shown in FIG. 6, the short-time data cutout unit 19 generates M pieces of received data RD accumulated in the time direction for each channel corresponding to each array antenna element 6 by M as shown in the following equation. Cut into short data SD. Note that the shift number of each data SD when the data SD is cut out is 1 in the case of Expression (9), but the shift number can be varied to an appropriate number of 1 or more.

    Next, the frequency spectrum calculation unit 20 calculates the frequency spectrum by performing discrete Fourier transform on the data cut out in a short time and converting it into data in the frequency domain as shown in FIG. 7 and Expression (10). calculate.

    The interference frequency detection unit 18 obtains the average of the power after discrete Fourier transform for K channels, and further detects a peak in the frequency direction as shown in FIG. 8, and has a frequency at which the average power level of the peak is maximum, Obtained as the instantaneous beat frequency (interference component frequency) of the interference component at each time t. this

Is written.

Here, the complex frequency spectrum from 1 to K ch at the obtained instantaneous beat frequency f BA [t] (interference component frequency) of the interference component is expressed by Expression (13).

As shown in FIG. 9, the component (equation (13)) obtained by extracting the component of the interference component frequency f BA obtained by the interference frequency detection unit 18 from the beat frequency spectrum calculated by the frequency spectrum calculation unit 20 is substantially interference. Consists of ingredients only. From this, in the present invention, a plurality of candidates for the frequency before folding is generated from those signals as in the prior art, and the phase correction amount corresponding to each candidate is obtained, and among them, the most likely is A process to correct only the interference component in the received signal of each channel (align the phase component) and then remove the main component (DC component) without performing a large-scale calculation to obtain the direction of the interference component By performing, processing is performed based on the knowledge that interference components can be easily removed.

    That is, schematically showing the processing according to the present invention, as shown in FIG. 10, the received signal mixed with the interference component is the interference component for each of the reception channels Ch1, Ch2, Ch3... The desired component SC composed of the reflected wave from the KC and the original target is mixed in a form having different phases and sizes. In FIG. 10, the interference component KC and the desired component SC in each channel have the length of the arrow indicating the magnitude of the signal, and the direction of the arrow indicates the phase. 10 is a schematic diagram for displaying the concept of the present invention in an easy-to-understand manner, and the magnitude and direction of each signal does not necessarily reflect the actual signal state.

    Next, in step S2, the phase of the interference component KC of the received signal in each channel is aligned, and then in step S3, the interference component KC is removed to easily remove the interference component KC in the received signal. be able to. After that, when the phase of each channel is returned to the base in step S4, a reception signal from which the interference component KC is removed can be obtained.

Details of the interference suppression processing will be described below. First, complex vector data Y [] [t] (f BA (t)) composed of frequency spectrum components at the interference component frequency represented by Expression (13) is converted into an amplitude term (a i ) and a phase term (e jθi ).

At this time, the phase correction table calculation unit 21 calculates and generates a correction table that sets the phase term of the reception data decomposed into the amplitude term (a i ) and the phase term (e jθi ) to 1. That is, the correction table Hosei [t] at time t, that is, the equation (15) for aligning the phase of the interference component (signal) of the received signal in each channel in step S2 in FIG. 10 is as follows. .

This correction table serves to set the phase term (e jθi ) of the reception data represented by the equation (14) to 1, that is, to align the phase of the interference signal in the reception data (corresponding to step S2 in FIG. 10). That is, the received data of each channel is subjected to arithmetic processing so that the phases of the interference components (signals) are aligned on the basis of the phases of the interference components (signals) for each channel. As described above, conventionally, it is necessary to calculate the correction table after detecting the interference azimuth by repeating the phase correction and DBF as many times as the number of aliasing frequency candidates. However, the proposed method does not need to obtain the interference azimuth. The correction table can be obtained by one process.

    Thus, when the correction table Hosei [t] for aligning the phase of the interference signal in each received signal is obtained, assuming that the received data of channels 1 to K at time t is Xc [t], Equation (16) is obtained. become.

    The interference component removal unit 26 performs interference suppression according to the following equation (17).

I is a unit matrix (size K), and a (0) is a 0 degree direction mode vector (size K) (formula (18)). In the formula (17), * represents a complex conjugate.

The interference component removing unit 26 applies the correction table to the reception data Xc [t] shown in Expression (16), so that the phases of the interference components in Xc [t] are aligned (the phase terms are all 1, for example, accordingly. The orientation is 0 degree (if the phases are aligned, the orientation is not necessarily limited to the orientation 0 degree), which is step S2 in FIG. Next, when a projection matrix (I−a (0) .a (0) T ) that removes a signal of a DC component (corresponding to an azimuth of 0 degree) in the received signal is multiplied, the interference component in the received signal is removed. (Step S3 in FIG. 10). Finally, the amount of the phase correction of the received data of each channel in step 2 of FIG. 10 is restored in step S4 (step S4 of FIG. 10). As a result, only the interference component is removed from the received data.

    Since equation (17) is equivalent to the following equation (19), this is actually calculated. At that time, the calculation is performed in order from the back in order to reduce the calculation cost. In the formula (19), H represents a conjugate transposition.

The buffer unit 27 accumulates the data x C [t] in which the interference signal component is suppressed for the number of original data, and sends it to the subsequent beat frequency detection unit 31. In this state, a signal in a form in which the interference wave component is removed (suppressed) from the beat signal accumulated in the buffer unit 14 of the transmission / reception unit 5 in FIG. 5 is appropriately output to the subsequent beat frequency detection unit 31. The

    The beat signal whose interference component is suppressed by the interference suppression unit 30 of the target detection unit 17 is subjected to known processing by the beat frequency detection unit 31, the phase correction unit 32, and the direction detection unit 33, and the own vehicle and the preceding vehicle, etc. The distance, relative speed, direction, and the like with the target of the target are calculated, and further, the target tracking processing unit 35 shown in FIG. 5 performs a calculation process such as detecting a vehicle ahead by performing a temporal tracking process. Do. Note that the detailed processing content in the target tracking processing unit 35 is a known technique whose details are described in Japanese Patent Application Laid-Open No. 2003-270341 and the like, and thus description thereof is omitted in this specification. Further, the processing in the beat frequency detection unit 31, the phase correction unit 32, and the direction detection unit 33 is described in detail in Non-Patent Document 1 and the like, and is a known method. Description is omitted.

    In the present embodiment, these processing units and their operation contents are described on the assumption that they are implemented as signal processing software that operates on a microprocessor, a digital signal processor, or the like. However, on a semiconductor device such as an FPGA or LSI, It can be realized as an integrated circuit.

  In the above embodiment, the switch 7 switches the plurality of array antenna elements 6 and the single A / D converter 13 quantizes the beat signal S3. Even if the A / D converter 13 is connected to each array antenna element without using the signal, and the simultaneous reception of each channel is performed, the interference component mixed in the received signal is similarly removed. It can be applied.

    In this way, when FM-CW, CW radar waves, etc. from an oncoming vehicle or the like are received as interference waves, even if there is a time variation of the interference component frequency, the short-term data of the interference waves are cut out. Since the processing is configured, the frequency hardly changes in the cut out time range, and the interference component frequency in the time interval can be detected by the frequency spectrum calculation unit 20 and the interference frequency detection unit 18.

    The present invention can be used for an on-vehicle FM-CW type or CW type electronic scanning radar apparatus.

FIG. 1 is a time chart showing transmission / reception signals and the principle of mixing processing in the FM-CW radar system. FIG. 2 is a plan view showing an example of a road environment having an opposite lane. FIG. 3 is a diagram showing a signal processing state in the own vehicle when an interference signal from another vehicle is received in the conventional radar apparatus. FIG. 4 shows the sampling value of each channel in the case of simultaneous reception of all channels and in the case of time division (switching) reception, and the state of interference component signals assumed at that time (pre-turnback signal and post-turnback signal). FIG. FIG. 5 is a block diagram showing an embodiment of an electronic scanning radar apparatus according to the present invention. FIG. 6 is a schematic diagram showing the contents of a short-time data cutout process. FIG. 7 is a schematic diagram showing the contents of frequency spectrum calculation processing. FIG. 8 is a schematic diagram showing the instantaneous beat frequency of the interference signal at each time. FIG. 9 is a conceptual diagram showing the basic idea of the present invention. FIG. 10 is a flowchart (an example) showing the flow of interference signal removal according to the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electronic scanning radar apparatus 5 ... Transmitting antenna 6 ... Antenna element 7 ... Changeover switch 10 ... Mixer 13 ... A / D converter 17 ... Target detection part 18 ... Interference frequency detection part 19 …… Short-time data cutout unit 20 …… Frequency spectrum calculation unit 21 …… Phase correction table calculation unit 26 …… Interference component removal means (interference component removal unit)
27 ...... buffer unit S3, RD ...... beat signal R X ...... received signal T X ...... transmission signal

Claims (2)

  1. A transmission signal composed of a continuous wave is mixed with a transmission antenna that can freely radiate, a reception antenna composed of a plurality of antenna elements from the first channel to the Kth channel, and a reception signal received by the plurality of antenna elements and the transmission signal. Mixer for obtaining beat signals for a plurality of channels corresponding to the plurality of antenna elements, and sampling the beat signals obtained by the mixer at a predetermined sampling frequency to receive data for a plurality of channels corresponding to the plurality of antenna elements An A / D converter, the sampled received data of the plurality of channels is cut out into a plurality of short time data in the time direction for each channel, a short time data extraction unit, Frequency spectrum calculation to calculate the frequency spectrum of short-time data An interference frequency detection unit that detects an interference component frequency of an interference wave from the frequency spectrum, and a phase correction table calculation unit that calculates a phase correction table based on the frequency spectrum component at the detected interference component frequency of each channel An interference component removing unit that suppresses an interference direction component in the reception data based on the phase correction table, and a target distance, a relative speed, and the like are detected based on the reception data in which the interference direction component is suppressed. In an electronic scanning radar apparatus having a target detection unit,
    The phase correction table calculation unit includes:
    A data decomposing unit that decomposes complex vector data composed of frequency spectrum components at the interference component frequency obtained by the interference frequency detecting unit into amplitude terms and phase terms;
    A correction table generation unit that calculates and generates a correction table that aligns the phase term of the decomposed complex vector data with an orientation of 0 degrees;
    The interference component removing means includes
    The correction table is applied to the received data x c [t] of the first to Kth channels at time t so that the phase of the interference component of each channel is aligned at 0 ° and the projection matrix (I−a (0) .a (0) T ) (I is the unit matrix (size K), a (0) is the mode vector (size K) in the 0 degree direction), and each of the phases is aligned in the 0 degree direction. In order to remove the interference component from the received data x c [t] of the channel and to restore the phase of the received data of each channel from which the interference direction component has been removed, the complex conjugate of the correction table is applied. In the interference direction component suppression processing performed in
    Using equation (19),
    (1)
    The received data x c [t] is multiplied by the conjugate table transpose Hosei [t] H of the correction table,
    (2)
    The result of (1) is multiplied by 1 / K · correction table Hosei [t]
    (3)
    Next, an operation for subtracting the result of (2) from the received data x c [t] is performed,
    An interference suppression unit that performs an operation equivalent to the interference direction component suppression processing ;
    Have
    And a buffer unit for merging the received data in which the interference direction component is suppressed,
    An electronic scanning radar apparatus that detects a distance, a relative speed, and the like of the target based on the restored data.
  2. 2. The electronic scanning radar apparatus according to claim 1, further comprising a switch provided between the mixer and the plurality of antenna elements and selectively connecting the plurality of antenna elements to the mixer.
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JP2007292856A JP5478010B2 (en) 2007-11-12 2007-11-12 Electronic scanning radar equipment
DE102008056905.4A DE102008056905B4 (en) 2007-11-12 2008-11-12 Radar device; It allows simplified suppression of interference signal components resulting from receiving directly transmitted radar waves from another radar device
US12/269,205 US7760133B2 (en) 2007-11-12 2008-11-12 Radar apparatus enabling simplified suppression of interference signal components which result from reception of directly transmitted radar waves from another radar apparatus
CN2008101718822A CN101435871B (en) 2007-11-12 2008-11-12 Electronic scanning radar apparatus

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JP2009121826A (en) 2009-06-04
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CN101435871B (en) 2012-01-25
DE102008056905B4 (en) 2018-08-23

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